Work support system and work method

ABSTRACT

According to one embodiment, a work support system includes an imager, a storage part, and a processor. The imager is configured to image a first transfer object after the first transfer object is transferred into a structural object and arranged inside the structural object. The storage part stores first three-dimensional data. The first three-dimensional data includes three-dimensional data of the structural object and three-dimensional data of the first transfer object. The three-dimensional data of the first transfer object is overlaid at a first position inside the structural object of the three-dimensional data. The processor detects a displacement of the first transfer object of second three-dimensional data with respect to the first transfer object of the first three-dimensional data. The second three-dimensional data is obtained by imaging the first transfer object arranged inside the structural object.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority fromJapanese Patent Application No. 2016-218249, filed on Nov. 8, 2016; theentire contents of which are incorporated herein by reference.

FIELD

Embodiments described herein relate generally to a work support systemand a work method.

BACKGROUND

In JP-A 2014-178794 (Kokai), a system is discussed in which a laserscanner or the like is used to acquire three-dimensional data of astructural object, and a transfer path is generated for transferringbuilding materials and/or equipment into the interior of the structuralobject. According to the technology discussed in JP-A 2014-178794(Kokai), the efficiency of the work for the transferring can beincreased.

However, in JP-A 2014-178794 (Kokai), the fixation work of thetransferred building materials and/or equipment is not described; andthere is still room for improvement for the work efficiency of suchfixation work.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating a configuration of a work supportsystem according to an embodiment;

FIG. 2 is a flowchart illustrating an example of work and operations ofthe work support system according to the embodiment;

FIGS. 3A to 3D are schematic views illustrating an example of datastored in a storage part;

FIG. 4 is a flowchart illustrating an example of specific processing ofsteps S6 and S7 illustrated in FIG. 2;

FIG. 5 is a schematic view illustrating an example when firstthree-dimensional data and second three-dimensional data are overlaid;and

FIGS. 6A to 6C are schematic views illustrating the appearance when thethree-dimensional data of FIG. 5 is projected onto each plane.

DETAILED DESCRIPTION

According to one embodiment, a work support system includes an imager, astorage part, and a processor. The imager is configured to image a firsttransfer object after the first transfer object is transferred into astructural object and arranged inside the structural object. The storagepart stores first three-dimensional data. The first three-dimensionaldata includes three-dimensional data of the structural object andthree-dimensional data of the first transfer object. Thethree-dimensional data of the first transfer object is overlaid at afirst position inside the structural object of the three-dimensionaldata. The processor detects a displacement of the first transfer objectof second three-dimensional data with respect to the first transferobject of the first three-dimensional data. The second three-dimensionaldata is obtained by imaging the first transfer object arranged insidethe structural object.

Embodiments of the invention will now be described with reference to thedrawings.

In the drawings and the specification of the application, componentssimilar to those described thereinabove are marked with like referencenumerals, and a detailed description is omitted as appropriate.

FIG. 1 is a block diagram illustrating the configuration of the worksupport system 100 according to the embodiment.

As illustrated in FIG. 1, the work support system 100 includes an inputpart 10, an imager 20, a storage part 30, a processor 40, a displayer50, and a terminal 60. For example, the work support system 100according to the embodiment is used to support work. The work includes,for example, the transfer of multiple transfer objects B into astructural object A, the connection of the multiple transfer objects B,and the fixation of the multiple transfer objects B. The multipletransfer objects B include first to nth transfer objects B₁ to B_(n).

For example, first work and second work described below are examples ofsuch work.

In the first work, multiple equipment for configuring a paper sheetsorting apparatus are transferred into an existing structural object.The multiple equipment are installed and assembled.

In the second work, multiple building materials such as pipes, etc., aretransferred into the structural object at the construction site of theplant. The multiple building materials are linked to each other whilebeing fixed by welding, etc.

The input part 10 performs the input of information to the processor 40.For example, the input part 10 is used by a user of the work supportsystem 100. The input part 10 is, for example, a keyboard, a touchpanel, a microphone (voice input), etc.

The imager 20 acquires three-dimensional data of a subject that isimaged. The imager 20 is, for example, a three-dimensional laserscanner. The imager 20 scans a laser over the surface of the subject anddetermines the three-dimensional coordinates of the irradiation pointsfrom the reflected light. The exterior form of the subject is acquiredas a collection of many points (point cloud data). For example, theimager 20 is mounted at the work site inside the structural object A.The imager 20 automatically acquires the point cloud data of theinternal structure of the structural object A and the point cloud dataof the first to nth transfer objects B₁ to B_(n).

Multiple imagers 20 may be mounted inside the structural object A. Themultiple imagers 20 reduce dead angles by being mounted atmutually-different positions. The point cloud data that represents theexterior forms of the objects is acquired more accurately. In the casewhere the multiple imagers 20 are mounted inside the structural objectA, the processor 40 compares the multiple point cloud data and overlaysthe parts that match each other. Thereby, one set of point cloud data isgenerated. The storage part 30 stores the various data used in the worksupport system 100. The storage part 30 is, for example, a hard diskdrive (HDD) built into a PC, a file server, etc.

The storage part 30 includes a structural object database 31, a transferobject database 32, a design database 33, an imaging result database 34,and a schedule database 35.

The structural object database 31 stores the three-dimensional data ofthe internal structure of the structural object A where the work isperformed. The three-dimensional data includes the area inside thestructural object A where the first to nth transfer objects B₁ to B_(n)are fixed, and the transfer path to the area of the first to nthtransfer objects B₁ to B_(n), inside the structural object A. Thestructural object database 31 may further store three-dimensional dataof a location where the transfer of the first to nth transfer objects B₁to B_(n) is performed outside the structural object A. For example, suchthree-dimensional data is obtained by using the imager 20 to image thestructural object A prior to the work and by acquiring the point clouddata. Or, in the case where three-dimensional CAD data of the structuralobject A and the location where the transfer is performed exists, suchthree-dimensional CAD data may be stored in the structural objectdatabase 31.

The transfer object database 32 stores the three-dimensional data (e.g.,the three-dimensional CAD data) of each of the first to nth transferobjects B₁ to B_(n). In the case where there is no three-dimensional CADdata of these transfer objects, the three-dimensional data may beacquired by using the imager 20 to image each of the transfer objectsprior to the work.

The design database 33 stores first three-dimensional data. In the firstthree-dimensional data, the three-dimensional data of the structuralobject A that is stored in the structural object database 31 and thethree-dimensional data of each of the transfer objects that is stored inthe transfer object database 32 are overlaid in three-dimensionalcoordinates.

The imaging result database 34 stores second three-dimensional data inthe state in which the first to nth transfer objects B₁ to B_(n) areactually arranged inside the structural object A. The secondthree-dimensional data is obtained by using the imager 20 to image thefirst to nth transfer objects B₁ to B_(n) after the first to nthtransfer objects B₁ to B_(n) are arranged and fixed inside thestructural object A.

The imaging result database 34 may store other multiplethree-dimensional data. The other multiple three-dimensional datarespectively illustrates states in which the first to nth transferobjects B₁ to B_(n) are fixed. For example, the imaging result database34 may store three-dimensional data illustrating a state after the firsttransfer object B₁ is fixed before the second transfer object B₂ istransferred, three-dimensional data illustrating a state after the firsttransfer object B₁ and the second transfer object B₂ are fixed beforethe third transfer object B₃ is transferred, etc.

The schedule database 35 stores the schedule of the work. For example,the work schedule is generated by a generally-used scheduler. The workschedule includes information such as the delivery time of the work, thetransfer sequence and the fixation sequence of the transfer objects, thetransfer date and time of each of the transfer objects, the resources(the personnel, the machines, etc.) used in the transfer, the operationtime period of each resource, etc. The processor 40 is, for example, aCPU (a central processing unit) and memory included in a PC. A programfor causing the processor 40 to execute the various processing is storedin the memory. The processor 40 executes the processing while referringto the data stored in the storage part 30. The specific processing thatis executed by the processor 40 is described below.

The displayer 50 is, for example, a monitor, a touch panel, etc. Thedisplayer 50 displays each database stored in the storage part 30 sothat the user of the work support system 100 can confirm and edit eachdatabase. The displayer 50 displays the results derived by the processor40 so that the user can confirm the results.

The terminal 60 is, for example, a mobile device such as a smartphone, atablet, etc. The worker that works inside the structural object Acarries the terminal 60. The processor 40 can transmit the derivedresults to the terminal 60. In other words, the terminal 60 functions asa receiver that receives the information transmitted from the processor40. The worker can refer to each database of the storage part 30 byusing the terminal 60.

The components described above are connected to each other by a wirelessnetwork, various cables such as USB cables, LAN cables, etc., so thatthe necessary information can be mutually sent and received.

An example of the work and operations of the work support system 100according to the embodiment will now be described with reference to FIG.2 and FIGS. 3A to 3D.

FIG. 2 is a flowchart illustrating an example of the work and theoperations of the work support system 100 according to the embodiment.

FIGS. 3A to 3D are schematic views illustrating an example of the datastored in the storage part 30.

FIG. 3A illustrates the three-dimensional data of the structural objectA stored in the structural object database 31. FIG. 3B illustrates thethree-dimensional data of the first to nth transfer objects B₁ to B_(n)connected to each other. The three-dimensional data illustrated in FIG.3B is stored in the transfer object database 32. FIG. 3C illustrates thefirst three-dimensional data stored in the design database 33. FIG. 3Dillustrates the second three-dimensional data stored in the imagingresult database 34.

The three-dimensional data that is stored in the storage part 30 isillustrated schematically in two dimensions in FIG. 3A to FIG. 3D.

The flow illustrated in FIG. 2 mainly includes step S4 in which thetransfer and fixation of the transfer objects are performed, steps S1 toS3 that are performed prior to the work of step S4, and steps S5 to S7that are performed by the work support system 100 after the work ofsteps S1 to S4.

Step S1

Point cloud data is generated by imaging the interior of the structuralobject A by using the imager 20. Thereby, the three-dimensional data ofthe internal structure of the structural object A is acquired. In thecase where three-dimensional CAD data or the like of the structuralobject A already exists, the three-dimensional CAD data may be utilized;and step S1 may be omitted.

By step S1, the three-dimensional data of the internal structure of thestructural object A is prepared as illustrated in FIG. 3A.

Step S2

The three-dimensional data of the first to nth transfer objects B₁ to Bnis acquired. In the case where three-dimensional CAD data or the like ofthe first to nth transfer objects B₁ to Bn exists, such data may beutilized; and step S2 may be omitted. In the case where there is nothree-dimensional CAD data or the like, for example, point cloud datathat reflects the exterior forms of these transfer objects is generatedby using a laser scanner to image each of the first to nth transferobjects B₁ to B_(n). Thereby, the three-dimensional data of the first tonth transfer objects B₁ to B_(n) is acquired.

By step S2, the three-dimensional data of the first to nth transferobjects B₁ to B_(n) is prepared as illustrated in FIG. 3B.

Step S3

The three-dimensional data of the first to nth transfer objects B₁ toB_(n) prepared in step S2 is overlaid in three-dimensional coordinateson the three-dimensional data of the structural object A prepared instep S1. The three-dimensional data of the first to nth transfer objectsB₁ to B_(n) is overlaid at a first position of the structural object Aof the three-dimensional data. The first position corresponds to asecond position where each of the transfer objects are fixed inside thestructural object A in the actual work.

The first three-dimensional data is generated by step S3. In the firstthree-dimensional data, the three-dimensional data of the first to nthtransfer objects B₁ to B_(n) is arranged at the first position insidethe structural object A of the three-dimensional data as illustrated inFIG. 3C.

After generating the first three-dimensional data, the user may use thefirst three-dimensional data to investigate and generate the transferpaths when transferring each of the transfer objects to the fixationlocations inside the structural object A. For example, the user performsthe investigation and the generation of the transfer paths while movingeach of the first to nth transfer objects B₁ to B_(n) inside thestructural object A in the first three-dimensional data. By using thefirst three-dimensional data, the transfer paths can be investigatedwhile checking for the existence of interference between the structuralobject A and each of the transfer objects when transferring.

Or, the work support system 100 may be configured so that the processor40 executes the following operations. For example, the processor 40automatically derives the transfer path of each of the transfer objectsbased on information such as the fixation locations and the coordinatesof the first to nth transfer objects B₁ to B_(n) the coordinates of thetransfer entrance of the structural object A, etc. At this time, theprocessor 40 may refer to the schedule database 35. The processor 40 mayderive the transfer path of each of the transfer objects whileconsidering the transfer sequence of the first to nth transfer objectsB₁ to B_(n).

The processor 40 may cause the displayer 50 to display a video image ofeach of the first to nth transfer objects B₁ to B_(n), moving along thetransfer paths set in the three-dimensional data of the structuralobject A. Using the first three-dimensional data, the processor 40 maycause the displayer 50 to display a state in which the first to nthtransfer objects B₁ to B_(n) are arranged at the first position insidethe structural object A.

By causing the displayer 50 to display such information, the states whentransferring and after transferring can be ascertained in specificdetail prior to actually transferring the first to nth transfer objectsB₁ to B_(n). It is possible to perform the work more smoothly. Suchinformation may be presented at the delivery locations of the transferobjects prior to the work.

The appearance of the work and the state after the delivery can beshared with the customer in more specific detail.

In the case where the point cloud data of the internal structure of thestructural object A is acquired in step S1, the point cloud data mayinclude information relating to the detailed state of the floor surfaceinside the structural object A. In such a case, the worker can confirmthe detailed state of the floor surface inside the structural object Afrom the three-dimensional data stored in the structural object database31. At this time, the worker may perform the following work in the firstthree-dimensional data. The worker may modify the fixation position ofthe first to nth transfer objects B₁ to B_(n) to avoid parts of thefloor surface where the unevenness is large. The worker may adjust theheight of members interposed between the floor surface and each of thetransfer objects to reduce the tilt with respect to the horizontaldirection of each of the transfer objects.

Step S4

The first to nth transfer objects B₁ to B_(n) are actually transferredinto the structural object A and fixed. At this time, the first to nthtransfer objects B₁ to B_(n) are fixed at the predetermined firstposition inside the structural object A. In other words, the first tonth transfer objects B₁ to B_(n) are fixed so that the position afterthe fixation of the first to nth transfer objects B₁ to B_(n) matchesthe position where the first to nth transfer objects B₁ to B_(n) arearranged in the first three-dimensional data.

Step S5

The first to nth transfer objects B₁ to B_(n) that are fixed are imagedby the imager 20.

By step S5, the three-dimensional data (the second three-dimensionaldata) of the first to nth transfer objects B₁ to B_(n) actually fixedinside the structural object A is acquired as illustrated in FIG. 3D.The second three-dimensional data is stored in the storage part 30.

In the example illustrated in FIG. 3D, only the three-dimensional dataof the first to nth transfer objects B₁ to B_(n) and the periphery ofthe first to nth transfer objects B₁ to B_(n) is acquired. In step S5,the three-dimensional data of the first to nth transfer objects B₁ toB_(n) and the entire interior of the structural object A may be acquiredas in FIG. 3C.

Step S6

The processor 40 compares the first three-dimensional data obtained instep S3 and the second three-dimensional data obtained in step S5.Thereby, the displacement of the first to nth transfer objects B₁ toB_(n) of the second three-dimensional data with respect to the first tonth transfer objects B₁ to B_(n) of the first three-dimensional data isdetected.

More specifically, the processor 40 overlays the first three-dimensionaldata and the second three-dimensional data in the same three-dimensionalcoordinate system. Thereby, how much the position of the first to nthtransfer objects B₁ to B_(n) is displaced between the firstthree-dimensional data and the second three-dimensional data isdetected. In other words, the processor 40 detects, for the first to nthtransfer objects B₁ to B_(n), the degree of the difference of theposition when actually fixed with respect to the position designed priorto the transfer.

Step S7

The processor 40 causes the displayer 50 to display the detectionresults. The processor 40 transmits the detection results toward theterminal 60. The terminal 60 displays the received results on a screen.The worker confirms the detection results displayed by the terminal 60.Thereby, the worker can easily confirm whether or not the position ofthe fixed first to nth transfer objects B₁ to B_(n) matches the positiondesigned beforehand.

By steps S5 to S7 described above being performed by the work supportsystem 100 according to the embodiment, it can be detected automaticallywhether or not the position of the first to nth transfer objects B₁ toB_(n) after the fixation matches the position designed beforehand.

Therefore, according to the work support system 100 according to theembodiment, it is unnecessary for the worker to measure and confirm theposition of the first to nth transfer objects B₁ to B_(n) after thefixation; and the work efficiency can be increased.

By using the work support system 100 according to the embodiment,detection results that do not depend on the surveying skill of theworker are obtained. Therefore, the existence and degree of thedisplacement can be verified with higher precision. For example, bydetecting the displacement with high precision, the worker can refixeach of the transfer objects based on the detection results. Therefore,the displacement of the final fixation position of each of the transferobjects with respect to the design position can be small; and thequality of the work can be improved.

One more specific example of the detection of the displacement and thedisplay of the detection results of steps S6 and S7 will now bedescribed with reference to FIG. 4 to FIGS. 6A to 6C.

FIG. 4 is a flowchart illustrating an example of the specific processingof steps S6 and S7 illustrated in FIG. 2.

FIG. 5 is a schematic view illustrating an example when the firstthree-dimensional data and the second three-dimensional data areoverlaid.

FIGS. 6A to 6C are schematic views illustrating the appearance when thethree-dimensional data of FIG. 5 is projected onto each plane.

In the example illustrated in FIG. 4, steps S61 to S64 are performed instep S6; and step S71 or S72 is performed in step S7.

Step S61

Similarly to step S6 described above, the first three-dimensional dataand the second three-dimensional data are overlaid in the samethree-dimensional coordinate system in step S61.

FIG. 5 illustrates the schematic appearance when overlaid. In FIG. 5,the transfer object B that is included in the first three-dimensionaldata is illustrated by the broken lines; and the transfer object B thatis included in the second three-dimensional data is illustrated by thesolid lines. At least the second three-dimensional data is point clouddata; but FIG. 5 schematically illustrates the outer edges of the pointcloud data using straight lines.

Step S62

The transfer object B of the first three-dimensional data and thetransfer object B of the second three-dimensional data after theoverlaying are projected in some direction. Here, the case of beingprojected onto planes (the X-Y plane, the Y-Z plane, and the X-Z plane)perpendicular to the directions in the three-dimensional coordinates(the X-direction, the Y-direction, and the Z-direction) is described.

The appearance when the three-dimensional data illustrated in FIG. 5 isprojected onto each plane is illustrated in FIGS. 6A to 6C.

FIG. 6A illustrates the projection of the X-Y plane. FIG. 6B illustratesthe projection of the Y-Z plane. FIG. 6C illustrates the projection ofthe X-Z plane.

In FIG. 6A to FIG. 6C, the transfer object B of the firstthree-dimensional data is illustrated by the broken lines; and thetransfer object B of the second three-dimensional data is illustrated bythe solid lines. The part where the density of the dots is highillustrates the part where the transfer objects B overlap (match)between the first three-dimensional data and the secondthree-dimensional data. The parts where the density of the dots is lowillustrate the parts where the transfer objects B do not overlap (do notmatch) between the first three-dimensional data and the secondthree-dimensional data.

Step S63

The processor 40 calculates the mismatch amount of the three-dimensionaldata of the transfer objects B between the first three-dimensional dataand the second three-dimensional data for each of the projection planesas illustrated in FIG. 6A to FIG. 6C.

The first three-dimensional data includes, for example, thethree-dimensional CAD data of the transfer object B. In such a case, theproportion of the three-dimensional CAD data and the point cloud dataoverlapping in the projection plane is calculated. At this time, theregion separated from any point included in the point cloud data by aprescribed distance or more in the three-dimensional CAD data isdetermined to be mismatched. Or, points that do not overlap thethree-dimensional CAD data are determined to be mismatched.

As an example, the irradiation angle pitch of the laser beam irradiatedfrom the imager 20 has a spacing of 3 millimeters at 10 meters when thepoint cloud data is generated by the imager 20. In such a case, theprescribed distance is set to 10 millimeters.

The processor 40 detects a first mismatch amount in the X-direction (thefirst direction), a second mismatch amount in the Y-direction (thesecond direction), and a third mismatch amount in the Z-direction (thethird direction) for the transfer object B. For example, the processor40 calculates the number of points determined to be mismatched as thefirst mismatch amount, the second mismatch amount, and the thirdmismatch amount respectively for the multiple projection planes. Or, theprocessor 40 may calculate the surface area of the three-dimensional CADdata determined to be mismatched as the first mismatch amount, thesecond mismatch amount, and the third mismatch amount respectively forthe multiple projection planes.

Or, the processor 40 may calculate the proportion of the number ofpoints determined to be mismatched with respect to the number of pointsincluded in the point cloud data of the transfer object B as the firstmismatch amount, the second mismatch amount, and the third mismatchamount respectively for the multiple projection planes. Or, theprocessor 40 may calculate the proportion of the surface area determinedto be mismatched with respect to the surface area of thethree-dimensional CAD data as the first mismatch amount, the secondmismatch amount, and the third mismatch amount respectively for themultiple projection planes. The first three-dimensional data and thesecond three-dimensional data may include information of the colors ofeach of the transfer objects B. In such a case, the match or themismatch may be determined further based on the information of the colorof each point.

Or, the processor 40 may extract characteristic parts from each of thetransfer objects B of the first three-dimensional data and the secondthree-dimensional data for each projection plane. In such a case, theprocessor 40 may calculate the distances between the characteristicparts as the first mismatch amount, the second mismatch amount, and thethird mismatch amount respectively for the multiple projection planes.

Thus, the processor 40 calculates the mismatch amount for eachmutually-orthogonal direction (each projection plane). Thereby, it canbe detected how much and in which direction the fixed transfer object Bis displaced with respect to the pre-designed position.

Or, the mismatch amount also can be calculated for any projection planeby projecting the overlaid first three-dimensional data and secondthree-dimensional data in any direction.

In the example described above, the proportion or the number of thepoints or the surface area determined to be mismatched is calculated asthe mismatch amount. The proportion or the number of the points or thesurface area determined to match may be calculated as the mismatchamount. Even in such a case, it can be considered that substantially themismatch amount is calculated.

After calculating the mismatch amount described above in step S63, theprocessor 40 may execute the following method.

The processor 40 moves and rotates the transfer object B of one of thefirst three-dimensional data or the second three-dimensional data foreach projection plane. At this time, the processor 40 moves the transferobject B so that the mismatch amount of the transfer object B betweenthe first three-dimensional data and the second three-dimensional datais a minimum. The processor 40 stores, in the storage part 30, theresult of the calculated movement distance and rotation angle in eachdirection.

According to this method, the movement direction, the movement distance,and the rotation angle of the transfer object B necessary to minimizethe mismatch amount for each projection plane are calculated. Thismethod is effective for work in which the multiple transfer objects aresequentially transferred and fixed. In such work, if the fixationposition of one transfer object is rotated with respect to thepredetermined position, the amount of the displacement (the shift of theposition) for the other transfer objects fixed to the one transferobject increases according to the number of transfer objects to befixed. Accordingly, in the case where the work support system 100 isused in such work, it is desirable for the processor 40 to calculate therotation angle for minimizing the mismatch amount.

Step S64

A preset threshold for the mismatch amount detected in step S63 isstored in the storage part 30. The processor 40 compares the mismatchamount to the threshold for each projection plane. For example, themismatch amount that can be tolerated in each direction is set as thethreshold. In the case where the mismatch amount is less than thethreshold for each projection plane, the flow proceeds to step 571.

In the case where a mismatch amount that is not less than the thresholdexists for any of the projection planes, the flow proceeds to step S72.

Step S71

The processor 40 causes the displayer 50 to display or notifies theterminal 60 that the mismatch amount in each direction is less than thethreshold and within the tolerance range for the fixed first to nthtransfer objects B₁ to B_(n). At this time, the mismatch amount in eachdirection may be displayed by the displayer 50 and notified to theterminal 60.

Step S72

The processor 40 causes the displayer 50 to display or notifies theterminal 60 that there is a direction in which the mismatch amount isnot less than the threshold for the fixed first to nth transfer objectsB₁ to B_(n). Also, the processor 40 causes the displayer 50 to displayor notifies the terminal 60 of the direction in which the mismatchamount is not less than the threshold and the mismatch amount of thedirection. Further, the mismatch amount may be displayed by thedisplayer 50 or notified to the terminal 60 for the direction in whichthe mismatch amount is less than the threshold.

In steps S71 and S72, the processor 40 may convert and display themismatch amount detected in each direction into numerical values usingunits such as millimeters, centimeters, etc. Thereby, the user of thework support system 100 can easily ascertain the mismatch amountintuitively.

In steps S71 and S72, there may be no display of a notification for thedirections in which the mismatch amount is less than the threshold. Inother words, the processor 40 may not display or notify the results instep S71 and may display only the direction in which the mismatch amountis not less than the threshold and the mismatch amount of the directionin step S72.

Here, the case is described where the multiple transfer objects up tothe first to nth transfer objects B₁ to B_(n) are transferred. The worksupport system 100 according to the embodiment is applicable also whenthe transfer and fixation of one transfer object is performed. In otherwords, the method illustrated in the flowchart of FIG. 2 and FIG. 4 isapplicable even in the case where only the first transfer object B₁ istransferred and fixed inside the structural object A.

The case is described in the example described above where the first tonth transfer objects B₁ to B_(n) are imaged and the displacement of thefirst to nth transfer objects B₁ to B_(n) is detected after the first tonth transfer objects B₁ to B_(n) are fixed. The displacement of thesetransfer objects may be detected after the first to nth transfer objectsB₁ to B_(n) are arranged inside the structural object A prior to thefixation. The displacement can be corrected more easily by detecting thedisplacement prior to fixing each of the transfer objects.

The work support system 100 according to the embodiment may executesteps S5 to S7 of FIG. 2 each time one transfer object is transferredand arranged inside the structural object A. For example, the worksupport system 100 according to the embodiment executes steps S5 to S7after the first transfer object B₁ is transferred and arranged prior toperforming the fixation of the second transfer object B₂ and theconnection with the first transfer object B₁. Thereby, the displacementof the first transfer object B₁ can be detected and corrected prior tothe fixation and the connection of the second transfer object B₂.Therefore, the time necessary for the work can be shorter than in thecase of correcting the displacement after all of the transfer objectsare fixed and connected.

While certain embodiments have been described, these embodiments havebeen presented by way of example only, and are not intended to limit thescope of the inventions. Indeed, the novel embodiments described hereinmay be embodied in a variety of other forms; furthermore, variousomissions, substitutions and changes in the form of the embodimentsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modifications as would fall within the scope andspirit of the invention.

Moreover, above-mentioned embodiments can be combined mutually and canbe carried out.

What is claimed is:
 1. A work support system, comprising: an imagerconfigured to image a first transfer object after the first transferobject is transferred into a structural object and arranged inside thestructural object; a storage part storing first three-dimensional data,the first three-dimensional data including three-dimensional data of thestructural object and three-dimensional data of the first transferobject, the three-dimensional data of the first transfer object beingoverlaid at a first position inside the structural object of thethree-dimensional data; and a processor detecting a displacement of thefirst transfer object of second three-dimensional data with respect tothe first transfer object of the first three-dimensional data, thesecond three-dimensional data being obtained by imaging the firsttransfer object arranged inside the structural object.
 2. The systemaccording to claim 1, wherein the processor detects the displacement bycalculating a mismatch amount of the first transfer object of the secondthree-dimensional data with respect to the first transfer object of thefirst three-dimensional data.
 3. The system according to claim 2,further comprising a receiver, the mismatch amount including a firstmismatch amount in a first direction, a second mismatch amount in asecond direction, and a third mismatch amount in a third direction, thesecond direction being orthogonal to the first direction, the thirddirection being orthogonal to the first direction and the seconddirection, the processor detecting the displacement for each of thefirst direction, the second direction, and the third direction bycalculating the first mismatch amount, the second mismatch amount, andthe third mismatch amount, the processor transmitting the displacementsto the receiver.
 4. The system according to claim 3, wherein theprocessor compares each of the first mismatch amount, the secondmismatch amount, and the third mismatch amount to a threshold stored inthe storage part, and in the case where one or more of the firstmismatch amount, the second mismatch amount, or the third mismatchamount is greater than the threshold, the processor transmits, to thereceiver, the one or more of the first mismatch amount, the secondmismatch amount, or the third mismatch amount and one or more of thefirst direction, the second direction, or the third directioncorresponding to the one or more of the first mismatch amount, thesecond mismatch amount, or the third mismatch amount.
 5. A work supportsystem used in work, the work including a transfer of a first transferobject into a structural object, a transfer of a second transfer objectinto the structural object, and a connection between the first transferobject and the second transfer object, the system comprising: an imagerconfigured to image the first transfer object after the first transferobject is transferred into the structural object and arranged inside thestructural object prior to the second transfer object being connected tothe first transfer object; a storage part storing firstthree-dimensional data, the first three-dimensional data includingthree-dimensional data of the structural object and three-dimensionaldata of the first transfer object, the three-dimensional data of thefirst transfer object being overlaid at a first position inside thestructural object of the three-dimensional data; and a processordetecting a displacement of the first transfer object of secondthree-dimensional data with respect to the first transfer object of thefirst three-dimensional data, the second three-dimensional data beingobtained by imaging the first transfer object arranged inside thestructural object.
 6. The system according to claim 5, wherein theprocessor detects the displacement by calculating a mismatch amount ofthe first transfer object of the second three-dimensional data withrespect to the first transfer object of the first three-dimensionaldata.
 7. The system according to claim 6, further comprising a receiver,the mismatch amount including a first mismatch amount in a firstdirection, a second mismatch amount in a second direction, and a thirdmismatch amount in a third direction, the second direction beingorthogonal to the first direction, the third direction being orthogonalto the first direction and the second direction, the processor detectingthe displacement for each of the first direction, the second direction,and the third direction by calculating the first mismatch amount, thesecond mismatch amount, and the third mismatch amount, the processortransmitting the displacements to the receiver.
 8. The system accordingto claim 7, wherein the processor compares each of the first mismatchamount, the second mismatch amount, and the third mismatch amount to athreshold stored in the storage part, and in the case where one or moreof the first mismatch amount, the second mismatch amount, or the thirdmismatch amount is greater than the threshold, the processor transmits,to the receiver, the one or more of the first mismatch amount, thesecond mismatch amount, or the third mismatch amount and one or more ofthe first direction, the second direction, or the third directioncorresponding to the one or more of the first mismatch amount, thesecond mismatch amount, or the third mismatch amount.
 9. A work method,comprising: imaging a first transfer object after the first transferobject is transferred into a structural object and arranged inside thestructural object; acquiring first three-dimensional data, the firstthree-dimensional data including three-dimensional data of thestructural object and three-dimensional data of the first transferobject, the three-dimensional data of the first transfer object beingoverlaid at a prescribed position inside the structural object of thethree-dimensional data; and using the first three-dimensional data andsecond three-dimensional data to detect a displacement of the firsttransfer object of the second three-dimensional data with respect to thefirst transfer object of the first three-dimensional data, the secondthree-dimensional data being obtained in the imaging.
 10. The methodaccording to claim 9, wherein the displacement is detected bycalculating a mismatch amount of the first transfer object of the secondthree-dimensional data with respect to the first transfer object of thefirst three-dimensional data.
 11. The method according to claim 9,wherein the first transfer object is connected to the second transferobject transferred into the structural object, and the imaging of thefirst transfer object and the detecting of the displacement areperformed after the first transfer object is arranged inside thestructural object before the first transfer object is connected to thesecond transfer object.
 12. The method according to claim 9, wherein atransfer path of the second transfer object into the structural objectis generated using the second three-dimensional data.